Control Theory of Nonlinear Mechanical Systems
Control Theory of Nonlinear Mechanical Systems
Fundamentals of Robotics: Analysis and Control
Fundamentals of Robotics: Analysis and Control
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Control of Robot Manipulators
Robot Analysis and Control
Inverse Jacobian Regulator With Gravity Compensation: Stability and Experiment
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Global task-space adaptive control of robot
Automatica (Journal of IFAC)
| Hi-index | 0.00 |
Task-space regulation of robots is classified into two basic approaches, namely transpose Jacobian regulation and inverse Jacobian regulation. This paper shows that, despite the distinct differences between inverse Jacobian and transpose Jacobian regulation problems, there is a unified approach for the analysis and design of the transpose Jacobian and inverse Jacobian PD controllers for non-redundant robots. Based on the unified analysis, we show that there is a fundamental property in the task-space regulation problem, namely the duality property. The results on the duality property show that the transpose Jacobian matrix can be replaced by the inverse Jacobian matrix and vice versa. The two basic transformations, the transpose Jacobian and the inverse Jacobian, are said to be dual. The task-space PD controllers are implemented on an industrial robot and experiment results are presented.